I am a Computer Science Ph. D. student at Johns Hopkins University where I work in the Autonomous Systems, Control, and Optimization Lab. My research interests are in control, planning, estimation, and perception in mobile robotic systems, namely flying vehicles and high-speed off-road vehicles.
A ROS package for 3D path planning on a uniform occupancy grid using D*-lite. It is available here.
Real-time Object Tracking and Image-based Localization
A ROS package for tracking objects in 3D. The system takes a textured CAD model of the object as input.
Optimal Visual Servoing for Underactuated Systems
Hybrid visual servoing formulated as an optimal control problem to ensure important image features stay in view during aggressive maneuvers.